JPS6052275A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an industrial robot, and more specifically, a cradle is attached to a rotating table rotatably placed on a bed.

It is equipped with a group of links that are supported by this mount and give the output section motion with multiple degrees of freedom, and is also provided with an origin detection point, an overrunning limit switch, and an overrunning limit switch for controlling the rotation Ml of the rotation table, and between the storage table 1 and the rotation table. It concerns industrial robots.

[Prior art]

Conventionally, there have been devices of this type as shown in FIGS. 1 to 7.

FIG. 1 shows the overall configuration, in which a rotating table is rotatably placed on a bed, and a first servo motor 3 serving as a driving source is attached to the rotating table. A gantry housing the first servo motor 3 and connected to the rotating table 3 rotates in the direction of the arrow on the bed 1 via the rotating table and the first servo motor 3. Frame f
In the lc, a first servo motor S and a third servo motor 6 are mounted facing each other, and one end of the first link 7, which is swung in the direction of arrow B by the first servo motor, is attached to the gantry G. Supported. 21) The link g has a shaft portion ga at both ends, and approximately the center thereof is the first IJ link 7.
It is rotatably supported. The upper end of the third link is connected to the rear end of the first link g, and the lower end of the third link 9 is connected to a third link, one end of which is supported on the frame.
The other end of O is connected. These link mechanisms cause the first link 7 to swing in the direction of arrow C as the third servo motor B is driven. A servo motor // of the first rack 7 is attached to the side of the rear end of the first rack 7.
The S-th servo motor 12 faces the servo motor l/ of
is attached to the rear end of the first rig 7. A sixth surf 1 imator 13 is attached to the upper part of the rear end of the second link g. The first box lq is rotatably supported at the tip of the first link 7, and the first box lq is connected to the drive shaft (not shown) in the first link 7 and the deceleration Via the mechanism, it is driven in the direction of the arrow by the Vth servo motor /l. The first box body /L/[ is rotatably supported by the first box body 1jt, and the first box body /S is a drive shaft (not shown) in the first stage/risa and a deceleration shaft. Through a mechanism (not shown) -
It is driven in the direction of arrow E by the servo motors of ffi3. An output $l+/A is rotatably supported in the second box t3, and the output shaft 16 is driven in the direction of arrow F by the sixth servo motor 13.

Figure 1 shows the drive mechanism of the turning table λ, in which a gear case/9 housing a reduction gear group/g is stacked and fixed on the turning table h placed on the bed l via a bearing 17. A first servo motor 3 is mounted and coupled on iq. Bed L has a ring-shaped fixed gear, 20
is fixed, a fixed gear, a drive shaft with a rotating gear 20 connected to the lower end, 22 a roller bearing,
It is supported by the gear case /q via 23. 1st
30 rotations of the servo motor, reduction gear group/g, drive shaft 2
．． When the signal is transmitted to the rotating gear 21 through 2'lf, the rotating gear 2/ rotates along the outer periphery of the fixed tooth Bt 2o, and the rotating table rotates around the central axis of the fixed gear -〇. It is supposed to be done.

With the above configuration, -): the third servo motor l/
The rotation of the S-th servo motor l- causes the first box lg to rotate in the direction of the arrow, and the rotation of the S-th servo motor l- causes the first box lg to rotate in the direction of the arrow.
rotates in the direction of arrow E, and the sixth servo motor 1
3 rotates the output shaft 16 in the direction of arrow F. In this way, the output shaft 16 can be rotated in the direction of the arrow F and also displaced in the directions of the arrows E and E, resulting in a movement of 31 degrees.

Next, the first rig 7 is rotated by the second servo motor S.
swings in the direction of arrow B, and the first lick is displaced together with the first link 7. Further, due to the rotation of the third servo motor O, the second link g swings in the direction of arrow C via the third link 9 and the first link 70. Furthermore, the first servo motor rotates 30 times, causing the gantry to rotate together with the rotating table.

As a result, the output shaft 16 is moved in the directions of arrows A, B, and C, and is finally allowed to move in six degrees of freedom. The Rukoto.

In order to control the rotation 7 of the turning table J in the above operation, as shown in FIGS. Overrunning limit switch 4 with a micro switch on a predetermined arc angle from left to right! A and job are arranged, and on the bed/top surface are an origin detection switch, 2s, and an overrunning limit switch U&A.

, 2. tb respectively. second dog, 76
゜, 27 are arranged. Further, in order to directly mechanically limit the overrun of the rotating table, stoppers 2ta and 2gb are provided on the bed l, and a U-shaped stopper block U9 is attached to the rotating table. The origin detection switch, 2&, requires high precision, so to avoid deterioration of accuracy due to wear, use a two-contact type switch such as a magnetic switch. Since S'a, , 25b are simply used to prevent overrun of the rotating table, an inexpensive contact type switch such as a 5-micro switch is used.

With the above configuration, the origin of the rotation table is detected when the first dog roller engages with the origin detection switch 2, and overrun of the rotation table is detected by the first dog roller 27.
is Oparanoning limit switch-5a,,25
When engaged with either b, it is restricted via the microcombi. Also, when the rotary table overruns further, the stopper block 29 stops! :a, 21
: When it comes into contact with either b, the revolving table is controlled +h.

However, in the conventional system R with the above configuration, the Ohara nonning limit switches 25a, 25b are controlled by a microcomputer, so if the microcomputer becomes malfunctioning, its functions will not be properly executed. The drawback was that it was not fulfilled.

[Summary of the invention]

The present invention has been made in view of the above points, and an object of the present invention is to provide an industrial II D pot that is provided with an emergency stop switch that operates between an overrunning limit switch and a stopper.

[Embodiments of the invention]

”ㅅ下, regarding one embodiment not shown in Fig. S, this invention E.
To explain, when the revolving table is at the home position,
Opara 7 Ninogrimitsutsuchi, ),! a.

and a pair of emergency stop switches 70a such that ()71i2 is established between S'b and S'b, respectively.

, 70b are arranged on the underside of the rotating table. Emergency stop 1-switch, ? θa and 3θb are contact-type ones like micro switches (they operate when the 10th dog valve is engaged, and the Ohara Nonning Limit Switch Co., ta
, the first servo motor 3 is stopped via a circuit different from the microcomputer of the lid b.

In the above embodiments, it goes without saying that the same effect can be achieved even if the part attached to the bed/side and the part attached to the revolving table side have opposite pressures to each other.

〔Effect of the invention〕

As described above, since the present invention provides an emergency stop switch in addition to an overrunning limit switch, it is possible to further prevent the overrun of the 5-swivel table by Km, thereby making it possible to more safely protect the industrial robot.

[Brief explanation of the drawing]

Figures 1 to 7 show a conventional device; Figure 1 is a partially cutaway side view of the overall configuration; Part of the figure is a front view, part S
The figure is a side view of the one in Figure D. FIG. 6 is a front view of the stopper, FIG. 7 is a front view of the overrunning limit switch, and FIG. S is a bottom view of essential parts of an embodiment of the present invention. l... Bed 1. 2... Swivel table, 3... First servo motor+G... Frame, 7. g, 9, 10...Link group-/&...Output shaft, /7...Bearing, 7g...Reduction gear group-/?・・Gear case, -〇・・Fixed gear 5.2/・
・Swivel gear, 2. !・・Drive shaft, 2 degrees・Origin detection switch, Jria, J, jb・・Overrunning limit switch 1.2A・・First dog, 27・・First dog, Riga. , 2gb...Stopper 1.2q...Stopper block, J Oa, J Ob...Emergency stop switch. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Masu Oiwa Male 1 figure 1 Suma 3 figure Ko 4 figure Atsushi 5 figure Ko 6 figure Person 7 figure Atsushi 8 figure

Claims (1)

[Scope of Claims] A bed, a turning table rotatably placed on the bed, a pedestal mounted on the swivel table, and a link supported by the pedestal that allows an output shaft to operate with multiple degrees of freedom. an origin detection switch, the control means being arranged between the bed and the turning table and controlling the rotation of the turning table, the control means being arranged on one of the bed and the turning table; A pair of overrunning limit switches located at predetermined arc angle positions left and right from the origin detection switch, a stopper block located inside the origin detection switch, and a stopper block disposed on the other side for the origin detection switch and the overrunning limit switch. 7th for switch. Second dog. In an industrial robot, the overrunning limit switch and the stopper are disposed on the working side of the overrunning limit switch, and when the rotary table is at the home position, the overrunning limit switch and the stopper are located at positions opposite to these dogs. An industrial robot characterized in that it is equipped with a pair of emergency stop switches, each located at an intermediate pressure.